Cleaning robot control method and cleaning robot

Abstract

The embodiment of the invention provides a control method of a cleaning robot and the cleaning robot, and the method comprises the steps that in the process that the cleaning robot executes a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot judges whether at least one part of a wet type target object is in contact with a dry type cleaning assembly of the cleaning robot or not; if the cleaning robot judges that at least one part of the wet type target object is in contact with the dry type cleaning assembly of the cleaning robot, the cleaning robot stops executing the cleaning task along the original preset cleaning path; the cleaning robot is controlled to execute a first cleaning strategy, and the first cleaning strategy comprises the steps that at least one part of the wet type target object is cleaned in a wet type cleaning mode or the cleaning robot is made to bypass the wet type target object. According to the cleaning robot, the current cleaning mode can be stopped in time when an emergency occurs in the cleaning path and the cleaning assembly is in contact with the unmatched target object, an emergency cleaning strategy is switched, and secondary pollution accidents are avoided.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This disclosure claims priority to Chinese patent application No. 202511067727.6 filed in China on July 31, 2025, the entire contents of which are incorporated herein by reference. Technical Field

[0002] The present application belongs to the technical field related to cleaning robots, and specifically relates to a control method for a cleaning robot and a cleaning robot. Background Art

[0003] Common cleaning robots include sweeping robots, mopping robots, sweeping and mopping robots, floor scrubbers, etc. Sweeping and mopping robots can both sweep and clean the floor, and are becoming more and more common in household life.

[0004] When performing cleaning tasks, cleaning robots typically clean the floor in an orderly manner according to a pre-set cleaning path. In particular, sweeping and mopping robots can be configured to operate in dry sweeping, wet mopping, or both, depending on the user's cleaning needs. However, if, for various reasons, the dry cleaning component of the cleaning robot accidentally comes into contact with wet waste, or vice versa, continuing to clean according to the original cleaning strategy can cause secondary contamination of the floor, affecting the cleaning effect. Summary of the Invention

[0005] The purpose of this application is to provide a control method and cleaning robot for cleaning robots, which can solve at least one of the above technical problems. The specific solution is as follows: The present invention provides a method for controlling a cleaning robot, including: During the process of the cleaning robot performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a portion of a wet target object is in contact with a dry cleaning component of the cleaning robot; If the cleaning robot determines that at least a portion of the wet target is in contact with the dry cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; The cleaning robot is controlled to execute a first cleaning strategy, wherein the first cleaning strategy includes using a wet cleaning mode to clean at least a portion of the wet object or making the cleaning robot circle around the wet object.

[0006] In this embodiment, the cleaning robot, while performing its cleaning tasks, identifies in real time whether wet waste is in contact with dry cleaning components, preventing secondary contamination caused by a mismatch between waste type and cleaning mode. By automatically executing pre-set cleaning strategies, the robot's overall cleaning efficiency when encountering wet waste is improved. Furthermore, by comprehensively considering both cleaning capacity and the state of the wet waste, the robot can implement strategies to either directly clean or bypass the wet waste, thereby improving its overall cleaning efficiency.

[0007] In some embodiments, when the first cleaning strategy is to use a wet cleaning mode to clean at least a portion of the wet target, it also includes: controlling the cleaning robot to return to the base station to clean the wet cleaning component, and then cleaning the wet target at least once; and then performing the cleaning task according to the preset original cleaning path.

[0008] In this embodiment, the cleaning robot is controlled to execute unexpected wet targets and perform self-cleaning at least once. At the same time, it returns to the original cleaning task in time after executing the unexpected garbage, which not only ensures the cleaning effect of the unexpected garbage, but also ensures the cleaning efficiency of the overall cleaning task.

[0009] In some embodiments, the use of the wet cleaning mode to clean at least a portion of the wet target includes: when the current first cleaning mode of the cleaning robot does not include wet cleaning, turning on the wet cleaning mode and using the wet cleaning mode to clean at least a portion of the wet target.

[0010] In some embodiments, the use of a wet cleaning mode to clean at least a portion of the wet target object includes: when the current first cleaning mode of the cleaning robot includes wet cleaning, directly using the wet cleaning mode to clean at least a portion of the wet target object, and then performing the cleaning task according to the original preset cleaning path.

[0011] In this embodiment, by timely controlling the cleaning component to enter the wet cleaning mode state according to whether the wet cleaning component is in the running state, a timely response after the wet cleaning task is performed is ensured, and the overall cleaning efficiency can be improved.

[0012] In some embodiments, starting the wet cleaning mode includes: lowering the wet cleaning component at a second speed greater than the first speed, wherein the first speed is the speed of lowering the wet cleaning component when at least a portion of the wet target object is not in contact with the dry cleaning component of the cleaning robot and the wet cleaning mode is required for cleaning.

[0013] In this embodiment, since the dry cleaning component of the cleaning robot has already come into contact with the wet garbage, it is too late to put down the wet cleaning component at a normal speed, so the speed of putting down the wet cleaning component needs to be increased to avoid secondary pollution caused by the driving wheel crushing the wet garbage.

[0014] In some embodiments, the method further includes: controlling the dry cleaning component to stop working.

[0015] In some embodiments, after controlling the dry cleaning component to stop working, it also includes: controlling the cleaning robot to decelerate at a second acceleration greater than the first acceleration, wherein the first acceleration is the acceleration of decelerating from a moving state to a stopped state when at least a part of the wet target is not in contact with the dry cleaning component of the cleaning robot.

[0016] When an emergency occurs and wet garbage has been touched, the cleaning robot can stop quickly to prevent the dry cleaning component from further contacting the wet garbage, increasing the contaminated area, and avoiding secondary contamination caused by the driving wheels crushing the wet garbage. At this time, the second acceleration value of the cleaning robot from normal speed to stop must be greater than the first acceleration value when it stops under normal operation, that is, the cleaning robot takes emergency braking to avoid secondary contamination.

[0017] In some embodiments, controlling the dry cleaning component to stop working includes: controlling the dry cleaning component to retract the dry cleaning component at a fourth speed greater than the third speed, wherein the third speed is the speed at which the dry cleaning component is retracted when at least a portion of the wet target is not in contact with the dry cleaning component of the cleaning robot and there is no need to adopt a dry cleaning mode for cleaning.

[0018] In this embodiment, due to the occurrence of an emergency, the wet cleaning material has come into contact with the cleaning robot, and it is too late to fold the dry cleaning component at a normal speed. Therefore, it is necessary to increase the speed of folding the dry cleaning component to avoid further contact between the dry cleaning component and the wet garbage, thereby increasing the contaminated area, and avoiding secondary pollution caused by the driving wheels crushing the wet garbage.

[0019] In some embodiments, controlling the dry cleaning component to stop working includes at least one of the following: retracting the side brush, retracting the roller brush, retracting the booster plate, stopping the side brush from rotating, and stopping the roller brush from rotating.

[0020] In some embodiments, when the first cleaning strategy is to make the cleaning robot go around the wet target, it also includes: making the cleaning robot go around the wet target, and controlling the cleaning robot to perform the cleaning task according to the original preset cleaning path.

[0021] In this embodiment, if the amount of wet waste exceeds the cleaning robot's cleaning capacity, a detour strategy can be manually or automatically implemented. The control system controls the cleaning robot to detour and return to the original cleaning path to continue cleaning according to the original cleaning path. This cleaning strategy allows the cleaning robot to perform cleaning tasks without changing the original cleaning strategy. Since it does not consider unexpected situations, it can maintain the original cleaning efficiency as much as possible.

[0022] The cleaning robot includes a wet cleaning component, and the wet cleaning mode is used to clean at least a portion of the wet target, including: the wet cleaning component has a first position and a second position, the first position is that the wet cleaning component is located inside the body of the cleaning robot, and the second position is that at least a portion of the wet cleaning component is located outside the body of the cleaning robot, when the wet target is located at the edge of an obstacle, when cleaning the wet target close to the edge of the obstacle, the wet cleaning component is adjusted to the second position for cleaning to clean the wet target near the edge of the obstacle, and when cleaning the wet target away from the edge of the obstacle, the wet cleaning component is adjusted to the first position for cleaning so that the cleaning area of ​​the wet cleaning component covers the walking area of ​​the driving wheel.

[0023] In this embodiment, when the cleaning robot uses a wet cleaning component, such as a mop, to clean wet garbage, when the wet garbage is located at the edge of an obstacle, the mop can be controlled to switch to the outside of the cleaning robot's body, which makes it easier to clean the wet garbage located at the edge of the obstacle. When the wet garbage is far away from the edge of the obstacle, the mop can be controlled to switch to the inside of the cleaning robot's body, which can not only clean the wet garbage, but also make the cleaning area of ​​the mop cover the walking area of ​​the driving wheel, thereby avoiding secondary contamination of the wet garbage by the driving wheel.

[0024] In some embodiments, the cleaning of at least a portion of the wet target object using a wet cleaning mode includes: controlling the cleaning robot to move at least in reverse to clean at least a portion of the wet garbage by mopping.

[0025] When the cleaning robot finds wet garbage that needs to be cleaned, it can be controlled to move backward along a preset cleaning path, using a mop located at the rear of the cleaning robot to clean the wet garbage. This way, because the mop first contacts the wet garbage during reverse movement and covers the path of the drive wheels, the cleaning robot can effectively clean the wet garbage in a single pass, avoiding the drive wheels from crushing the wet garbage and reducing the possibility of contamination.

[0026] In some embodiments, controlling the cleaning robot to move at least in reverse to clean at least a portion of the wet garbage by mopping includes: The mop is a roller mop or a crawler mop, and based on the forward direction of the cleaning robot, the driving wheel is located in front of the mop. During the reverse movement, the driving wheel of the cleaning robot rotates in the same direction as the mop. When the wet object is located at the edge of an obstacle, when cleaning the wet object close to the edge of the obstacle, the mop is adjusted to the second position and reversed for cleaning to clean the wet object near the edge of the obstacle. When cleaning the wet object away from the edge of the obstacle, the mop is adjusted to the first position and reversed for cleaning so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel; and / or The mop is a roller mop or a crawler mop. Based on the forward walking direction of the cleaning robot, the driving wheel is located in front of the mop. During the reverse movement, the driving wheel of the cleaning robot rotates in the opposite direction to the rotation direction of the mop. When the wet target is located at the edge of the obstacle, when cleaning the wet target close to the edge of the obstacle, the mop is adjusted to the second position and reversed for cleaning to clean the wet target near the edge of the obstacle. When cleaning the wet target away from the edge of the obstacle, the mop is adjusted to the first position and reversed for cleaning so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel.

[0027] In this embodiment, during reverse travel, the driving wheels of the cleaning robot rotate in opposite directions to the mop, thereby increasing the dwell time of the cleaning robot's wet cleaning assembly in the wet garbage area. This allows the wet cleaning assembly to pass through the wet garbage area at a slower speed, improving the cleaning efficiency of the wet cleaning assembly on wet garbage, particularly for heavily contaminated wet garbage. This improves the cleaning efficiency of the cleaning robot for heavily contaminated wet garbage, and prevents the driving wheels from being contaminated by dirt, leading to secondary contamination later in the cleaning path. Because the driving wheels are located in front of the mop, during reverse travel, when wet garbage is located at the edge of an obstacle, when cleaning wet garbage near the obstacle edge, the mop is adjusted to the second position for reverse cleaning to clean the wet garbage near the obstacle edge. When cleaning wet garbage away from the obstacle edge, the mop is adjusted to the first position for reverse cleaning so that the mop's cleaning area covers the driving wheel's travel area. This allows the mop to preferentially contact and clean the wet garbage, thus avoiding secondary contamination caused by contact between the driving wheel and the wet garbage.

[0028] In this embodiment, during reverse travel, the driving wheels of the cleaning robot rotate in the same direction as the mop, minimizing the time the cleaning robot spends on the wet garbage surface and preventing the dry cleaning components and the driving wheels from becoming excessively contaminated with liquid garbage. Because the driving wheels are located in front of the mop, when traveling in reverse, when wet garbage is near the edge of an obstacle, the mop is adjusted to the second position and reversed to clean the wet garbage near the obstacle edge. When cleaning wet garbage farther from the obstacle edge, the mop is adjusted to the first position and reversed to clean so that the mop's cleaning area covers the driving wheel's travel area. This allows the mop to preferentially contact and clean the wet garbage, preventing secondary contamination caused by contact between the driving wheels and the wet garbage. Furthermore, the width of the mop is greater than or equal to the distance between the two driving wheels to better cover the driving wheel's travel area.

[0029] In some embodiments, the wet target object includes liquid garbage, and the wet cleaning mode is used to clean at least a portion of the wet target object, including: controlling the cleaning robot to first clean the liquid garbage in a bow-shaped cleaning path, and then cleaning the liquid garbage by moving along the edge of the original liquid garbage.

[0030] In this embodiment, by controlling the cleaning robot to first move in a bow shape and then move along the edge of the original liquid garbage to clean the liquid garbage, it can avoid the liquid being thrown away due to the bow-shaped movement and can still be cleaned by the subsequent edge movement, which makes up for the defect of poor cleaning effect caused by the movement route and improves the cleaning efficiency of wet garbage.

[0031] In some embodiments, the cleaning robot includes an infrared light emitter and a detector, the wet target includes liquid waste, and before the cleaning robot determines whether at least a portion of the wet target is in contact with a dry cleaning component of the cleaning robot, a method for determining the liquid waste is further included: The infrared light emitter emits infrared light at a first frequency to illuminate the surface of the liquid garbage, and then the detector receives the light waves reflected from the surface of the liquid garbage to obtain the edge contour of the liquid garbage.

[0032] It is understandable that the detector for receiving light reflection can be a front camera or a rear camera placed behind the robot.

[0033] In this embodiment, the cleaning robot continuously flashes infrared light at a first frequency while traveling. This infrared light strikes the liquid surface, where tension at the edges of the liquid surface causes reflection. This reflected light is captured by the cleaning robot's detector (e.g., a camera), which captures a clear edge outline of the liquid waste and identifies the target object as liquid waste. This approach has the advantage of minimizing the risk of misidentification, as many home tile surfaces have decorative patterns. Compared to using only an AI camera to capture large decorative patterns, which can easily lead to misidentification of large areas as dirty, the combination of infrared light and a camera reduces the probability of misidentification.

[0034] In some embodiments, the present application further provides a method for controlling a cleaning robot, comprising: During the process of the cleaning robot performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a portion of a dry target object is in contact with a wet cleaning component of the cleaning robot; If the cleaning robot determines that at least a portion of the dry target is in contact with the wet cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; The cleaning robot is controlled to execute a second cleaning strategy, wherein the second cleaning strategy includes using a dry cleaning mode to clean at least a portion of the dry object or making the cleaning robot circle around the dry object.

[0035] The cleaning robot can make real-time identification and direct judgment to decide whether to execute the cleaning task using the original cleaning mode or a modified cleaning strategy, improving the smoothness and accuracy of cleaning task execution and ensuring cleaning efficiency. At the same time, it can ensure that when cleaning risks occur, the cleaning strategy can be changed in time to avoid secondary contamination caused by inconsistencies between garbage type and cleaning mode, which affects the cleaning effect.

[0036] In some embodiments, when the second cleaning strategy is to use a dry cleaning mode to clean at least a portion of the dry target object, it also includes: controlling the cleaning robot to return to the base station to dump garbage, and then cleaning the dry target object at least once; and then performing the cleaning task according to the original preset cleaning path.

[0037] In this embodiment, the cleaning robot is controlled to execute unexpected dry target objects and perform self-cleaning at least once. At the same time, it returns to the original cleaning task in time after executing the unexpected garbage, which not only ensures the cleaning effect of the unexpected garbage, but also ensures the cleaning efficiency of the overall cleaning task.

[0038] In some embodiments, cleaning at least a portion of the dry target object using a dry cleaning mode includes: When the current working mode of the cleaning robot does not include dry cleaning, the dry cleaning mode is turned on to clean at least a portion of the dry target object in the dry cleaning mode.

[0039] In some embodiments, cleaning at least a portion of the dry target object using a dry cleaning mode includes: When the current first cleaning mode of the cleaning robot includes dry cleaning, the dry cleaning mode is directly adopted to clean at least a portion of the dry target object, and then the cleaning task is performed according to the original preset cleaning path.

[0040] In this embodiment, by timely controlling the dry cleaning component to enter the dry cleaning mode state according to whether the dry cleaning component is in the operating state, timely response of the execution of the dry cleaning task is guaranteed, and the overall cleaning efficiency can be improved.

[0041] In some embodiments, starting the dry cleaning mode includes: lowering the dry cleaning component at a fourth speed greater than the third speed, wherein the third speed is the speed of lowering the dry cleaning component when at least a portion of the dry target object is not in contact with the wet cleaning component of the cleaning robot and the dry cleaning mode is required for cleaning.

[0042] In this embodiment, since the wet cleaning component of the cleaning robot has already come into contact with the dry garbage, it is too late to put down the dry cleaning component at a normal speed, so the speed of putting down the dry cleaning component needs to be increased to avoid wetting the dry garbage, increasing the difficulty of cleaning, and avoiding secondary pollution caused by the driving wheels crushing the dry garbage.

[0043] In some embodiments, the method further includes: controlling the wet cleaning component to stop working.

[0044] In some embodiments, after controlling the wet cleaning component to stop working, the method further includes: controlling the cleaning robot to decelerate at a second acceleration greater than the first acceleration, wherein the first acceleration is the acceleration of decelerating from a moving state to a stopped state when at least a part of the dry target object is not in contact with the wet cleaning component of the cleaning robot.

[0045] When an emergency occurs and at least part of the dry garbage has come into contact with the wet cleaning component, the cleaning robot can stop quickly to prevent the dry garbage from further contacting the wet cleaning component and expanding the contaminated area. At this time, the second acceleration value of the cleaning robot from normal speed to stop is greater than the first acceleration value when it stops under normal operation, that is, the cleaning robot takes emergency braking to avoid further contamination.

[0046] In some embodiments, controlling the wet cleaning component to stop working includes: controlling the wet cleaning component to retract the wet cleaning component at a second speed greater than the first speed, wherein the first speed is the speed at which the wet cleaning component is retracted when at least a portion of the dry target object is not in contact with the wet cleaning component of the cleaning robot and no wet cleaning mode is required for cleaning.

[0047] In this embodiment, due to the occurrence of an emergency, the dry cleaning material has come into contact with the wet cleaning component of the cleaning robot, and it is too late to retract the wet cleaning component at a normal speed. Therefore, it is necessary to increase the speed of retracting the wet cleaning component to avoid the wet cleaning component from further contacting the dry garbage, wetting the dry garbage, increasing the difficulty of cleaning, or contaminating the wet cleaning component, resulting in secondary pollution.

[0048] In some embodiments, controlling the wet cleaning assembly to stop working includes at least one of the following: retracting the main mop, retracting the side mop, stopping water supply, stopping the main mop from rotating, and stopping the side mop from rotating. It is understood that in some cases, the side mop may not be provided.

[0049] In some embodiments, when the second cleaning strategy is to make the cleaning robot go around the dry target, it also includes: when the dry target is not in contact with the wet cleaning component of the cleaning robot, controlling the cleaning robot to perform the cleaning task according to the original preset cleaning path.

[0050] In this embodiment, if the amount of dry waste exceeds the cleaning robot's cleaning capacity, a detour strategy can be manually or automatically implemented. The control system controls the cleaning robot to detour and return to the original cleaning path to continue cleaning along the original cleaning path. This cleaning strategy allows the cleaning robot to perform cleaning tasks without changing the original cleaning strategy. Since it does not consider unexpected situations, it can maintain the original cleaning efficiency as much as possible.

[0051] In some embodiments, the present application also provides a cleaning robot, which includes a robot body and a driving wheel and a cleaning component arranged on the robot body, and the cleaning component includes a wet cleaning component and a dry cleaning component; the cleaning robot is configured to perform any of the methods described above.

[0052] In summary, the present application provides a control method for a cleaning robot and a cleaning robot. When the cleaning robot performs a cleaning task, it detects the target object in the cleaning path in real time. When the target object identified in real time contacts the cleaning component of the cleaning robot, and the type of the target object does not match the type of the cleaning component in contact with it, the cleaning robot is controlled to immediately adopt a preset emergency cleaning strategy, which can timely prevent the occurrence of secondary pollution risks caused by the mismatch between the type of garbage and the cleaning mode. Then, the subsequent control logic is adjusted according to different strategies, and the optimal control method is adopted to control the cleaning robot to perform the cleaning task. The cleaning efficiency of the cleaning robot and the cleaning effect on the ground are improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 This is a schematic structural diagram of a cleaning robot provided in one embodiment of the present application.

[0055] Figure 2 This is a flowchart of a cleaning robot control method provided by an embodiment of the present application.

[0056] Figure 3A This is a schematic diagram of the movable cleaning structure of the wet cleaning component of a cleaning robot provided by an embodiment of the present disclosure.

[0057] Figure 3B This is a schematic diagram of the movable cleaning process of the wet cleaning component of a cleaning robot provided by an embodiment of the present disclosure.

[0058] Figure 4 This is a diagram of the status of the liquid on the desktop when the cleaning robot does not turn on the infrared light.

[0059] Figure 5 This is a state diagram of the cleaning robot when it turns on infrared light to irradiate the liquid on the desktop at the first frequency.

[0060] Figure 6 This is a flowchart of a cleaning robot control method provided by another embodiment of the present disclosure.

[0061] Figure 7 Schematic diagram of the electronic structure of the cleaning robot provided in an embodiment of the present application.

[0062] Explanation of the reference numerals: robot body 100 , dry cleaning component 10 , wet cleaning component 20 , driving wheel 30 , roller brush 11 , side brush 12 , main mop 21 , side mop 22 . DETAILED DESCRIPTION

[0063] The technical solutions of the present application will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present application, not all embodiments. The present application will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other unless there is a conflict.

[0064] It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0065] It should also be noted that the terms "include," "comprises," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a product or device comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such product or device. In the absence of further limitations, an element defined by the phrase "comprising a" does not exclude the presence of other identical elements in the product or device comprising the element.

[0066] When the cleaning robot is performing a cleaning task, accidents may occur due to various reasons, such as robot target recognition errors, sudden appearance of garbage, causing the cleaning components of the cleaning robot to fail to avoid in time and interfere with the garbage. For example, the dry cleaning component comes into contact with wet garbage, or the wet cleaning component comes into contact with dry garbage. At this time, if the cleaning robot still cleans according to the original cleaning strategy, it will cause secondary pollution to the cleaned ground and affect the cleaning effect.

[0067] Based on this, the present application provides a control method for a cleaning robot, comprising: during the process of the cleaning robot performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a part of the wet target is in contact with the dry cleaning component of the cleaning robot; if the cleaning robot determines that at least a part of the wet target is in contact with the dry cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; and controls the cleaning robot to execute a first cleaning strategy, wherein the first cleaning strategy includes using a wet cleaning mode to clean at least a part of the wet target or making the cleaning robot bypass the wet target.

[0068] And, a control method for a cleaning robot, comprising: while the cleaning robot is performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a portion of a dry target object is in contact with a wet cleaning component of the cleaning robot; if the cleaning robot determines that at least a portion of the dry target object is in contact with the wet cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; and controlling the cleaning robot to perform a second cleaning strategy, wherein the second cleaning strategy includes using a dry cleaning mode to clean at least a portion of the dry target object or causing the cleaning robot to bypass the dry target object.

[0069] It can be seen that when the cleaning robot of the present application performs a cleaning task, it can use various technical means to detect in real time the type of target object in the cleaning path and the state of contact with the cleaning component. When the type of the target object does not match the type of the cleaning component, the current cleaning task is stopped and the first cleaning strategy or the second cleaning strategy is executed. Therefore, when the cleaning robot of the present application encounters an emergency in the cleaning path and the cleaning component has come into contact with an unmatched target object, it can stop the current cleaning mode in time and switch to the emergency cleaning strategy to avoid the occurrence of secondary contamination accidents.

[0070] Specifically, the present application provides a control method for a cleaning robot, without making any specific limitation on the structure of the cleaning robot. For example, the cleaning robot can be a floor washing robot, a mopping robot, a sweeping robot, a sweeping and mopping robot, etc. The present application takes a sweeping and mopping robot as an example for illustration.

[0071] like Figure 1 As shown, the cleaning robot includes a robot body 100, a dry cleaning assembly 10, a wet cleaning assembly 20, a drive wheel 30, and a control system disposed at the bottom of the robot body 100. The control system controls the dry cleaning assembly 10, the wet cleaning assembly 20, and the drive wheel 30 of the cleaning robot to perform corresponding cleaning tasks. The dry cleaning assembly 10 includes a roller brush 11 and a side brush 12, and the wet cleaning assembly 20 includes a main mop 21 and a side mop 22. The roller brush 11 and the side brush 12 can be independently retracted and lowered under the control of the control system. Retracting includes retracting them to a certain position on the robot body 100, such as to an air intake, and also includes lifting or raising them to lift them off the ground and place them in a non-cleaning state. The main mop 21 and the side mop 22 can also be independently retracted and lowered under the control of the control system. Retracting them includes retracting them to a certain position on the robot body 100, such as to an edge of the robot body 100, and also lifting or raising them to lift them off the ground and place them in a non-cleaning state.

[0072] The dry cleaning mentioned herein refers to cleaning using dry cleaning elements, such as the side brush 12 and the roller brush 11. The wet cleaning mentioned herein refers to cleaning using wet cleaning elements, such as the main mop 21 and the side mop 22.

[0073] Optionally, under the control of the control system, the dry cleaning component 10, the wet cleaning component 20 and the drive wheel 30 can move at different speeds. For example, the dry cleaning component 10 can be folded or lowered quickly or slowly relative to the normal speed according to the received control instructions; the wet cleaning component 20 can be folded or lowered quickly or slowly relative to the normal speed according to the received control instructions; the drive wheel 30 can rotate quickly or slowly relative to the normal speed according to the received control instructions, so that the cleaning robot stops quickly or slowly relative to the normal speed.

[0074] Optionally, the robot body 100 further includes a sensor assembly and / or an artificial intelligence camera module, which is used to identify the location and type of garbage along the route in real time. Optionally, the sensor assembly and / or artificial intelligence camera module can also promptly identify whether the garbage has come into contact with the cleaning component.

[0075] It should be noted that, in the absence of contradiction, the contents described in “some embodiments”, “optionally”, etc. in this application can be superimposed on or freely combined with each other to form an independent and real-time technical solution.

[0076] like Figure 2 As shown, the present application provides a control method for a cleaning robot, comprising the following method steps: Step S102: while the cleaning robot is performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a portion of a wet target object is in contact with a dry cleaning component of the cleaning robot; Step S104: if the cleaning robot determines that at least a portion of the wet target object is in contact with the dry cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; Step S106: controlling the cleaning robot to execute a first cleaning strategy, wherein the first cleaning strategy includes using a wet cleaning mode to clean at least a portion of the wet target or making the cleaning robot go around the wet target.

[0077] When performing a task, the cleaning robot often cleans according to a preset cleaning path and a preset first cleaning mode. At this time, the cleaning robot can identify the target objects in the travel path in real time through its own sensors, cameras and other target recognition means. For example, the target objects include but are not limited to immovable obstacles, movable obstacles, and cleanable garbage targets. Garbage targets include dry garbage, wet garbage, and mixed dry and wet garbage. Among them, dry garbage can be, for example, paper scraps, balls of yarn, hair, etc., which are easy to clean with dry cleaning components, but are easy to adhere to wet cleaning components. Wet garbage can be, for example, liquids such as water, soy sauce, and beverages. Wet garbage is often easy to clean with wet cleaning components, but is easy to contaminate dry cleaning components and even cause secondary pollution. Mixed dry and wet garbage, such as spilled instant noodles, porridge, etc., is a mixture of both liquids and solids. For mixed dry and wet garbage, users often need to clean it manually or use a powerful fan to suck it out.

[0078] In an embodiment of the present application, while the cleaning robot is moving, the cleaning robot identifies and determines whether at least a portion of a wet target object is in contact with the dry cleaning component of the cleaning robot. If, due to a misjudgment or malfunction of the identification component, the dry cleaning component does not have time to avoid the wet target object and contacts the dry cleaning component, the cleaning robot needs to stop executing the current cleaning task and switch to executing a first cleaning strategy to avoid secondary contamination accidents caused by a mismatch between the cleaning component and the type of garbage. The first cleaning strategy includes using a wet cleaning mode to clean at least a portion of the wet target object or causing the cleaning robot to circumvent the wet target object.

[0079] Before step S104, when the wet target object does not come into contact with the dry cleaning component of the cleaning robot, the cleaning robot generally does not need to consider the impact of the target object and can continue to perform the cleaning task according to the current working mode. At the same time, the cleaning robot detects the target object in the cleaning path in real time. Since the cleaning strategy is not interrupted, the cleaning robot can efficiently execute the original cleaning strategy, so the overall cleaning efficiency is not affected.

[0080] Exemplarily, the cleaning robot performs cleaning tasks along a preset cleaning path. The cleaning mode of the cleaning robot can be dry cleaning, wet cleaning, or both. At the same time, the type and position of the target object in the cleaning path can be identified in real time by sensors. Based on the position of the target object, the distance between the target object and the cleaning component can be determined, thereby determining whether the cleaning component of the cleaning robot is in contact with the target object and whether there is a risk of contact. Through real-time recognition by the sensor, when the cleaning robot is in a safe state, it can perform cleaning tasks according to the current working mode without considering the presence of the target object.

[0081] For this step, the cleaning robot can directly determine whether to use the original cleaning mode or the modified first cleaning strategy to perform the cleaning task, improving the smoothness and accuracy of cleaning task execution and ensuring cleaning efficiency. At the same time, it can ensure that the cleaning strategy is changed in time when cleaning risks occur, avoiding secondary contamination caused by inconsistencies between garbage type and cleaning mode, which affects the cleaning effect.

[0082] In step S104, when a wet target object comes into contact with the cleaning component, the type of waste of the target object needs to be considered. When the waste type includes wet waste, such as liquid or mixed wet and dry waste, the cleaning robot's current operating mode is further considered to determine whether it matches the waste type. If the cleaning robot's current operating mode includes dry cleaning and the dry cleaning component has come into contact with the wet target object, the cleaning robot is controlled to stop performing the cleaning task along the original preset cleaning path. This prevents the dry cleaning component from further interfering with the wet waste. Otherwise, on the one hand, the area of ​​wet waste may be expanded, increasing the difficulty of cleaning. On the other hand, the dry cleaning component may be contaminated by the wet waste, causing secondary contamination of the ground during subsequent operation, thereby reducing the cleaning efficiency of the ground.

[0083] In step S106, when the cleaning robot's dry cleaning component comes into contact with wet waste, the control system directs the cleaning robot to clean at least a portion of the wet waste using a wet cleaning mode. The control system can also direct the cleaning robot to circumvent the wet waste. The decision to use the wet cleaning component to clean the wet waste can be made based on the robot's current cleaning task and cleaning capabilities. For example, if the amount of wet waste is large or a mixture of wet and dry waste exceeds the cleaning capacity of the wet cleaning component, the cleaning robot can circumvent the wet waste and continue its cleaning task along the subsequent cleaning path. This step enables the cleaning robot to optimally execute the current wet waste processing strategy, improving the overall cleaning performance of the cleaning surface.

[0084] It should be noted that the decision to control the cleaning robot to use a wet cleaning mode to clean the wet garbage or to make the cleaning robot circumvent the wet garbage in this step can be made automatically by the cleaning robot or manually by the user. When the decision is made automatically, the control system comprehensively determines the cleaning capacity of the wet cleaning component and the state of the wet garbage based on preset conditions. When the cleaning capacity of the wet cleaning component is greater than the state of the wet garbage, for example, when the area of ​​the wet garbage is not large or there is no mixed dry and wet garbage, the cleaning task is automatically performed. Conversely, when the cleaning capacity of the wet cleaning component is insufficient to clean the wet garbage, for example, when the area of ​​the wet garbage is too large, the water tank is insufficient, or there is mixed dry and wet garbage, the circumvention task is automatically performed. In addition, when the decision is made manually, the user waits for instructions and the corresponding cleaning strategy is executed according to the user instructions.

[0085] In some embodiments, when the first cleaning strategy is to clean at least a portion of the wet target object using a wet cleaning mode, the method further includes the following steps: Step S106-1: Controlling the cleaning robot to return to the base station to clean the wet cleaning component and then clean the wet target object at least once; Step S106 - 3 : Then, the cleaning task is performed according to the original preset cleaning path.

[0086] When the cleaning robot detects contact between the dry cleaning component and wet waste, it immediately controls the cleaning robot to use the wet cleaning component to clean the wet waste, preventing the dry cleaning component from further spreading the wet waste. Understandably, when the amount of wet waste is relatively large, the wet cleaning component may struggle to clean it all in one go. In this case, the wet cleaning component, such as a mop, may already be heavily clogged with wet waste. The cleaning robot can be controlled to return to the base station to clean the wet cleaning component before cleaning the wet target object. This cycle repeats until the wet target object is completely cleaned. Thereafter, the cleaning robot is controlled to exit the first cleaning strategy and return to the original, pre-set cleaning path to perform the original cleaning task.

[0087] In this embodiment, the cleaning robot is controlled to execute unexpected wet targets and perform self-cleaning at least once. At the same time, it returns to the original cleaning task in time after executing the unexpected garbage, which not only ensures the cleaning effect of the unexpected garbage, but also ensures the cleaning efficiency of the overall cleaning task.

[0088] In some embodiments, in step S106, the use of the wet cleaning mode to clean at least a portion of the wet target includes: when the current first cleaning mode of the cleaning robot does not include wet cleaning, turning on the wet cleaning mode and using the wet cleaning mode to clean at least a portion of the wet target.

[0089] In some embodiments, in step S106, the use of a wet cleaning mode to clean at least a portion of the wet target object includes: when the current first cleaning mode of the cleaning robot includes wet cleaning, directly using a wet cleaning mode to clean at least a portion of the wet target object, and then performing the cleaning task according to the original preset cleaning path.

[0090] When controlling the cleaning robot to perform a wet cleaning task, one scenario is that the current cleaning mode is only dry cleaning, wet cleaning is not enabled, and the wet cleaning component is in the retracted state. In this case, it is necessary to lower the wet cleaning component and enable wet cleaning mode to clean the current wet garbage according to the preset path. Another scenario is that the current cleaning mode includes wet cleaning, that is, the cleaning component is in the lowered state. In this case, it is only necessary to stop the dry cleaning mode and directly continue to clean the wet garbage in the wet cleaning mode. After cleaning, the cleaning task can be carried out according to the original preset cleaning path.

[0091] It can be understood that no matter what the situation is, the method of cleaning wet garbage can be re-matched with a new cleaning strategy based on the identification results of the wet garbage. For example, according to the size of the wet garbage area, the wet cleaning component is controlled to move back and forth for cleaning, or the return path of the cleaning robot is planned to repeatedly clean the wet garbage in the area until the wet garbage is cleaned.

[0092] In this embodiment, by timely controlling the cleaning component to enter the wet cleaning mode state according to whether the wet cleaning component is in the running state, a timely response after the wet cleaning task is performed is ensured, and the overall cleaning efficiency can be improved.

[0093] In some embodiments, starting the wet cleaning mode includes: lowering the wet cleaning component at a second speed greater than the first speed, wherein the first speed is the speed of lowering the wet cleaning component when at least a portion of the target object is not in contact with the dry cleaning component of the cleaning robot and requires cleaning in wet cleaning mode.

[0094] When the dry cleaning component comes into contact with wet garbage, since the wet cleaning mode was not previously activated, the wet cleaning component is in a retracted state. At this time, the wet cleaning component must be put down promptly and quickly so that the cleaning robot can clean the wet garbage in time, and avoid the driving wheel directly running over the wet garbage due to the wet cleaning component not being put down, causing secondary contamination. Therefore, the speed at which the wet cleaning component is put down at this time is a second speed, which is greater than the first speed. The first speed is the speed at which the wet cleaning component is put down when at least a portion of the wet target object is not in contact with the dry cleaning component of the cleaning robot and the wet cleaning mode needs to be used for cleaning, that is, the speed at which the wet cleaning component is put down when the cleaning robot is in normal cleaning mode. For example, the speed at which the wet cleaning component is put down when the cleaning robot leaves the base station and starts to perform a cleaning task can also be called the original putting down speed.

[0095] It is understandable that the value of the second speed needs to be preset, and can be preset to control the wet cleaning component to be lowered at the second speed as the first cleaning strategy is activated.

[0096] In this embodiment, since the dry cleaning component of the cleaning robot has already come into contact with the wet garbage, it is too late to put down the wet cleaning component at a normal speed, so the speed of putting down the wet cleaning component needs to be increased to avoid secondary pollution caused by the driving wheel crushing the wet garbage.

[0097] In some other embodiments, the cleaning robot includes a wet cleaning component, and the step of cleaning at least a portion of the wet target object in a wet cleaning mode includes: The wet cleaning component has a first position and a second position. The first position is that the wet cleaning component is located inside the body of the cleaning robot, and the second position is that at least a portion of the wet cleaning component is located outside the body of the cleaning robot. When the wet target is located at the edge of an obstacle, when cleaning a wet target close to the edge of the obstacle, the wet cleaning component is adjusted to the second position for cleaning to clean the wet target near the edge of the obstacle. When cleaning a wet target away from the edge of the obstacle, the wet cleaning component is adjusted to the first position for cleaning so that the cleaning area of ​​the wet cleaning component covers the walking area of ​​the driving wheel.

[0098] In this embodiment, Figure 3A As shown, when the cleaning robot uses a wet cleaning component, such as the main mop 21, to clean wet garbage, if the wet garbage is located at the edge of an obstacle, the main mop 21 can be controlled to switch to the second position B outside the cleaning robot body. This facilitates cleaning of wet garbage located at the edge of the obstacle. When the wet garbage is away from the edge of the obstacle, the main mop 21 can be controlled to switch to the first position A inside the cleaning robot body. This allows the wet garbage to be cleaned while ensuring that the cleaning area of ​​the mop covers the driving wheel's travel area, preventing secondary contamination of the wet garbage by the driving wheel. It is understood that when the distance between the wet garbage and the obstacle is 0-30 cm, the wet garbage is considered to be located at the edge of the obstacle, and this is not specifically limited.

[0099] In some other embodiments, the cleaning of the wet garbage in a wet cleaning mode includes: controlling the cleaning robot to move at least in reverse to clean at least a portion of the wet garbage by mopping.

[0100] When the cleaning robot finds wet garbage that needs to be cleaned, it can be controlled to move backward along a preset cleaning path, using a mop located at the rear of the cleaning robot to clean the wet garbage. This way, because the mop first contacts the wet garbage during reverse movement and covers the path of the drive wheels, the cleaning robot can effectively clean the wet garbage in a single pass, avoiding the drive wheels from crushing the wet garbage and reducing the possibility of contamination.

[0101] Furthermore, controlling the cleaning robot to move at least in reverse to clean at least a portion of the wet garbage by mopping includes: The mop is a roller mop or a crawler mop, and based on the forward walking direction of the cleaning robot, the driving wheel is located in front of the mop. During the reverse movement, the driving wheel of the cleaning robot rotates in the same direction as the mop. When the wet garbage is located at the edge of an obstacle, when cleaning the wet garbage close to the edge of the obstacle, the mop is adjusted to the second position and reversed for cleaning so as to clean the wet garbage near the edge of the obstacle. When cleaning the wet garbage away from the edge of the obstacle, the mop is adjusted to the first position and reversed for cleaning so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel; and / or The mop is a roller mop or a crawler mop. Based on the forward walking direction of the cleaning robot, the driving wheel is located in front of the mop. During the reverse movement, the rotation direction of the driving wheel of the cleaning robot is opposite to the rotation direction of the mop. When the wet garbage is located at the edge of the obstacle, when cleaning the wet garbage close to the edge of the obstacle, the mop is adjusted to the second position and reversed for cleaning to clean the wet garbage near the edge of the obstacle. When cleaning the wet garbage away from the edge of the obstacle, the mop is adjusted to the first position and reversed for cleaning so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel.

[0102] In this embodiment, during the reverse travel, the driving wheels of the cleaning robot rotate in the same direction as the mop, so that the wet cleaning component of the cleaning robot stays in the wet garbage area for a shorter time, and the cleaning robot can quickly pass through the wet garbage area, minimizing the contact between the driving wheels and the dirt in the wet garbage area, which can effectively reduce the cleaning time, improve the overall working efficiency of the cleaning robot, and prevent the driving wheels from being contaminated by dirt, thereby avoiding secondary contamination in the subsequent cleaning path. Since the driving wheels are located in front of the mop, during the reverse travel, such as Figure 3B As shown, when wet garbage is located at the edge of an obstacle, when cleaning the wet garbage close to the obstacle edge, the mop is adjusted to the second position B and cleaned backward to clean the wet garbage near the obstacle edge. When cleaning the wet garbage away from the obstacle edge, the mop is adjusted to the first position A and cleaned backward so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel. In this way, the mop can preferentially contact the wet garbage and clean the wet garbage, thereby avoiding secondary contamination caused by the driving wheel contacting the wet garbage.

[0103] In this embodiment, during the reverse movement, the driving wheel of the cleaning robot rotates in the opposite direction to the mop, which prolongs the time the wet cleaning component of the cleaning robot stays in the wet garbage area. This allows the wet cleaning component to pass through the wet garbage area at a slow speed, thereby improving the cleaning effect of the wet cleaning component on wet garbage, especially for heavily contaminated wet garbage. This improves the cleaning efficiency of the cleaning robot for heavily contaminated garbage in one go, and prevents the driving wheel from being contaminated by dirt, which can lead to secondary contamination in the subsequent cleaning path. Since the driving wheel is located in front of the mop, during the reverse movement, such as Figure 3B As shown, when wet garbage is located at the edge of an obstacle, when cleaning the wet garbage close to the obstacle edge, the mop is adjusted to the second position B and cleaned backward to clean the wet garbage near the obstacle edge. When cleaning the wet garbage away from the obstacle edge, the mop is adjusted to the first position A and cleaned backward so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel. In this way, the mop can preferentially contact the wet garbage and clean the wet garbage, thereby avoiding secondary contamination caused by the driving wheel contacting the wet garbage.

[0104] In some embodiments, the cleaning robot control method further includes: controlling the dry cleaning component to stop working.

[0105] In some embodiments, controlling the dry cleaning component to stop working includes: controlling the dry cleaning component to retract the dry cleaning component at a fourth speed greater than the third speed, wherein the third speed is the speed at which the dry cleaning component is retracted when at least a portion of the wet target is not in contact with the dry cleaning component of the cleaning robot and there is no need to adopt a dry cleaning mode for cleaning.

[0106] When the cleaning robot performs a cleaning task along a preset path, according to the above embodiment, in the event of an emergency, the cleaning robot needs to be able to respond, that is, the dry cleaning component should be immediately stopped from operating, such as stopping its rotation or reciprocating cleaning state. In addition, the cleaning robot is controlled to retract the dry cleaning component at a fourth speed greater than the third speed, wherein the third speed is the speed at which the dry cleaning component is retracted when at least a portion of the wet target object is not in contact with the dry cleaning component of the cleaning robot and the dry cleaning mode is not required for cleaning, that is, the speed at which the dry cleaning component is retracted when the cleaning robot is in normal cleaning mode. For example, the speed at which the dry cleaning component is retracted at the end of the cleaning task by the cleaning robot can also be referred to as the original retraction speed.

[0107] It can be understood that the value of the fourth speed can be preset in the cleaning robot control system, and when this emergency occurs, the dry cleaning component is controlled to be retracted at the fourth speed.

[0108] In this embodiment, due to the occurrence of an emergency, the wet cleaning material has come into contact with the cleaning robot, and it is too late to fold the dry cleaning component at a normal speed. Therefore, it is necessary to increase the speed of folding the dry cleaning component to avoid further contact between the dry cleaning component and the wet garbage, thereby increasing the contaminated area, and avoiding secondary pollution caused by the driving wheels crushing the wet garbage.

[0109] In some embodiments, stopping dry cleaning includes at least one of the following: retracting the side brush, retracting the roller brush, retracting the shielding member, stopping the side brush from rotating, and stopping the roller brush from rotating.

[0110] It should be noted that, stowing the side brush includes stowing the side brush and lifting the side brush; stowing the roller brush includes stowing the roller brush and lifting the roller brush.

[0111] According to the design of the hardware structure of the cleaning robot, the side brush and the roller brush usually have the motorized functions of storage and lifting. Storage usually means moving the brush closer to a certain position of the cleaning robot body in the horizontal plane to reduce interference with the ground, thereby stopping cleaning the ground. Lifting means moving the brush closer to a certain position of the cleaning robot body in the height direction of the cleaning robot to reduce interference with the ground, thereby stopping cleaning the ground. Stopping the rotation of the side brush and stopping the rotation of the roller brush means that the position of the side brush and the roller brush is temporarily fixed, and only their rotation is stopped, waiting for further instructions. Stowing the shield means moving the shield closer to a certain position of the cleaning robot body in the height direction of the cleaning robot. Stowing the shield can also reduce the interference between the shield and the ground, and avoid the shield from contact with wet garbage and causing contamination of the shield.

[0112] In some embodiments, after controlling the dry cleaning component to stop working, the control method further includes the following steps: the cleaning robot decelerates at a second acceleration greater than the first acceleration, wherein the first acceleration is the acceleration of decelerating from a moving state to a stopped state when at least a part of the wet target is not in contact with the dry cleaning component of the cleaning robot.

[0113] When an emergency occurs and wet garbage has been touched, the cleaning robot can stop quickly to prevent the dry cleaning component from further contacting the wet garbage, increasing the contaminated area, and avoiding secondary contamination caused by the driving wheels crushing the wet garbage. At this time, the second acceleration value of the cleaning robot from normal speed to stop must be greater than the first acceleration value when it stops under normal operation, that is, the cleaning robot takes emergency braking to avoid secondary contamination.

[0114] In some embodiments, when the first cleaning strategy is to make the cleaning robot go around the wet target, it further includes: making the cleaning robot go around the wet target, and controlling the cleaning robot to perform the cleaning task according to the original cleaning path.

[0115] In this embodiment, if the amount of wet waste exceeds the cleaning robot's cleaning capacity, a detour strategy can be manually or automatically implemented. The control system controls the cleaning robot to detour and return to the original cleaning path to continue cleaning according to the original cleaning path. This cleaning strategy allows the cleaning robot to perform cleaning tasks without changing the original cleaning strategy. Since it does not consider unexpected situations, it can maintain the original cleaning efficiency as much as possible.

[0116] In some embodiments, the wet target object includes liquid garbage, and the wet cleaning mode is used to clean at least a portion of the wet target object, including: controlling the cleaning robot to first clean the liquid garbage in a bow-shaped cleaning path, and then cleaning the liquid garbage by moving along the edge of the original liquid garbage.

[0117] In this embodiment, by controlling the cleaning robot to first move in a bow shape and then move along the edge of the original liquid garbage to clean the liquid garbage, it can avoid the liquid being thrown away due to the bow-shaped movement and can still be cleaned by the subsequent edge movement, which makes up for the defect of poor cleaning effect caused by the movement route and improves the cleaning efficiency of wet garbage.

[0118] In some embodiments, the cleaning robot includes an infrared light emitter and a detector, the wet target includes liquid waste, and before the cleaning robot determines whether at least a portion of the wet target is in contact with a dry cleaning component of the cleaning robot, a method for determining the liquid waste is further included: The infrared light emitter emits infrared light at a first frequency to illuminate the surface of the liquid garbage, and then the detector receives the light waves reflected from the surface of the liquid garbage to obtain the edge contour of the liquid garbage.

[0119] In this embodiment, the cleaning robot emits infrared light at a first frequency while traveling. The infrared light is reflected by the edge tension of the liquid surface and then captured by the cleaning robot's detector to determine that the target object is liquid waste. The first frequency can be 5-50 times / second.

[0120] like Figure 4 This is the status of the liquid on the desktop when the cleaning robot does not turn on the infrared light. Figure 5 When the cleaning robot turns on infrared light at the first frequency to illuminate the liquid on the desktop, it can be seen that the infrared light will be reflected by the edge tension of the liquid surface, forming a brighter area compared to other areas of the liquid. Once this area is captured by the cleaning robot's detector, it can be determined that the target object is liquid garbage.

[0121] like Figure 6 As shown, the present application also provides a control method for a cleaning robot, comprising the following method steps: Step S202: while the cleaning robot is performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a portion of a dry target object is in contact with a wet cleaning component of the cleaning robot; Step S204: if the cleaning robot determines that at least a portion of the dry target object is in contact with the wet cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; Step S206: controlling the cleaning robot to execute a second cleaning strategy, wherein the second cleaning strategy includes using a dry cleaning mode to clean at least a portion of the dry target or making the cleaning robot go around the dry target.

[0122] In step S202, if the dry object is not in contact with the robot's wet cleaning component, the robot generally does not need to consider the object's influence and can continue to perform the cleaning task according to the current working mode. At the same time, the robot detects the object in the cleaning path in real time. Since the cleaning strategy is not interrupted, the robot can efficiently execute the original cleaning strategy, so the overall cleaning efficiency is not affected.

[0123] Exemplarily, the cleaning robot performs cleaning tasks along a preset cleaning path. The cleaning mode of the cleaning robot can be dry cleaning, wet cleaning, or both. At the same time, the type and position of the target object in the cleaning path can be identified in real time by sensors. Based on the position of the target object, the distance between the target object and the cleaning component can be determined, thereby determining whether the cleaning component of the cleaning robot is in contact with the target object and whether there is a risk of contact. Through real-time recognition by the sensor, when the cleaning robot is in a safe state, it can perform cleaning tasks according to the current working mode without considering the presence of the target object.

[0124] In this step, the cleaning robot can make a real-time identification and direct judgment to decide whether to execute the cleaning task using the original cleaning mode or a modified second cleaning strategy, improving the smoothness and accuracy of cleaning task execution and ensuring cleaning efficiency. At the same time, it can ensure that the cleaning strategy is changed in a timely manner when cleaning risks occur, avoiding secondary contamination caused by inconsistencies between garbage type and cleaning mode, which affects the cleaning effect.

[0125] In step S204, when the target object comes into contact with the cleaning component, the type of waste of the target object needs to be considered. When the waste type includes dry waste, such as hair or mixed dry and wet waste, the cleaning robot's current operating mode is further considered to determine whether it matches the waste type. If the cleaning robot's current operating mode includes wet cleaning, the control system controls the cleaning robot to stop performing the cleaning task along the previously preset cleaning path. This prevents the wet cleaning component from further interfering with the dry waste. Otherwise, on the one hand, the dry waste area may be expanded, or even wetted, increasing the cleaning difficulty. On the other hand, the wet cleaning component may be contaminated with dry waste, causing secondary contamination of the ground during subsequent operation, thereby reducing the cleaning efficiency of the ground.

[0126] In step S206, after the cleaning robot comes into contact with the dry waste, the control system directs the cleaning robot to clean at least a portion of the dry waste using a dry cleaning mode. The control system can also direct the cleaning robot to circumvent the dry waste. The decision to directly use the dry cleaning component to clean the dry waste can be made based on the current cleaning task and the robot's cleaning capabilities. For example, if the amount of dry waste is large or mixed with wet and dry materials, exceeding the cleaning capacity of the dry cleaning component, the cleaning robot can circumvent the dry waste and continue cleaning along the subsequent cleaning path. This step enables the cleaning robot to optimally handle the current wet waste, improving the overall cleaning performance of the cleaning surface.

[0127] It should be noted that the decision to control the cleaning robot to use a dry cleaning mode to clean the dry garbage or to make the cleaning robot bypass the dry garbage in this step can be automatically executed by the cleaning robot or manually executed by the user. When automatically executed, the control system comprehensively judges the cleaning ability of the dry cleaning component and the state of the dry garbage based on preset conditions. When the cleaning ability of the dry cleaning component is greater than the state of the dry garbage, for example, when the area of ​​the dry garbage is not large or there is no dry and wet mixed garbage, the cleaning task is automatically executed. On the contrary, when the cleaning ability of the dry cleaning component is insufficient to clean the dry garbage, for example, when the area of ​​the dry garbage is too large or there is dry and wet mixed garbage, the bypass task is automatically executed. In addition, when manually executed, wait for the user to give instructions and execute the corresponding cleaning strategy according to the user instructions.

[0128] In this embodiment, the cleaning robot automatically executes cleaning strategies to improve overall cleaning efficiency when encountering dry waste. This strategy takes into account both cleaning capacity and the state of the dry waste, preventing any degradation in cleaning effectiveness. The cleaning robot can also notify the user and execute cleaning tasks according to their instructions, avoiding suboptimal cleaning results caused by a mismatch between cleaning capacity and dry waste state or inaccurate dry waste identification. This maximizes cleaning efficiency and effectiveness.

[0129] In some embodiments, when the second cleaning strategy is to clean at least a portion of the dry target object in a dry cleaning mode, the method further includes the following steps: Step S206-1: Control the cleaning robot to return to the base station to dump garbage, and then clean the dry target object at least once; Step S206 - 3 : Then, the cleaning task is performed according to the original preset cleaning path.

[0130] When the cleaning robot detects contact between the wet cleaning component and dry waste, it controls the cleaning robot to use the dry cleaning component to clean the dry waste, preventing the wet cleaning component from further spreading the dry waste. Understandably, if the amount of dry waste is large, a single cleaning with the dry cleaning component may leave the dust box or dust bag with no more room for dry waste. In this case, the cleaning robot can be controlled to return to the base station to dump the waste before cleaning the dry target. This cycle repeats until the dry target is completely cleaned. Thereafter, the cleaning robot is controlled to exit the second cleaning strategy and return to its original cleaning path to perform its original cleaning task.

[0131] In this embodiment, the cleaning robot is controlled to execute unexpected dry target objects and perform self-cleaning at least once. At the same time, it returns to the original cleaning task in time after executing the unexpected garbage, which not only ensures the cleaning effect of the unexpected garbage, but also ensures the cleaning efficiency of the overall cleaning task.

[0132] In some embodiments, in step S206, the use of the dry cleaning mode to clean at least a portion of the dry target object includes: when the current first cleaning mode of the cleaning robot does not include dry cleaning, turning on the dry cleaning mode and using the dry cleaning mode to clean at least a portion of the dry target object.

[0133] In some embodiments, in step S206, the adopting the dry cleaning mode to clean at least a portion of the dry target includes: when the current first cleaning mode of the cleaning robot includes dry cleaning, directly adopting the dry cleaning mode to clean at least a portion of the wet target.

[0134] When controlling the cleaning robot to perform wet cleaning tasks, one scenario is that the current cleaning mode is only wet cleaning, dry cleaning is not enabled, and the dry cleaning component is in the retracted state. In this case, it is necessary to lower the dry cleaning component and activate dry cleaning mode, so that it can clean the current dry garbage according to the preset path. Another scenario is that the current cleaning mode includes dry cleaning, that is, the dry cleaning component is in the lowered state. In this case, it is only necessary to stop the wet cleaning mode and directly resume the dry cleaning mode to clean the wet garbage.

[0135] It can be understood that no matter what the situation is, the method of cleaning garbage can be re-matched with a new cleaning strategy based on the identification results of dry garbage. For example, according to the size of the dry garbage area, the dry cleaning component is controlled to move back and forth for cleaning, or the return path of the cleaning robot is planned to repeatedly clean the dry garbage in the area until the dry garbage is cleaned.

[0136] In this embodiment, by timely controlling the dry cleaning component to enter the dry cleaning mode state according to whether the dry cleaning component is in the operating state, timely response of the execution of the dry cleaning task is guaranteed, and the overall cleaning efficiency can be improved.

[0137] In some embodiments, starting the dry cleaning mode includes: lowering the dry cleaning component at a fourth speed greater than the third speed, wherein the third speed is the speed of lowering the dry cleaning component when at least a portion of the dry target object is not in contact with the wet cleaning component of the cleaning robot and requires cleaning in dry cleaning mode.

[0138] When the wet cleaning component comes into contact with dry garbage, the dry cleaning component is in a retracted state because the dry cleaning mode was not previously activated. At this time, the dry cleaning component must be put down promptly and quickly so that the cleaning robot can clean the dry garbage in time, and avoid the driving wheel directly running over the dry garbage due to the dry cleaning component not being put down, causing secondary pollution. Therefore, the speed at which the dry cleaning component is put down at this time is the fourth speed, which is greater than the third speed. The third speed is the speed at which the dry cleaning component is put down when at least a portion of the dry target object is not in contact with the wet cleaning component of the cleaning robot and the dry cleaning mode needs to be used for cleaning, that is, the speed at which the dry cleaning component is put down when the cleaning robot is in normal cleaning mode. For example, the speed at which the dry cleaning component is put down when the cleaning robot leaves the base station and starts to perform a cleaning task can also be called the original putting down speed.

[0139] It is understood that the speeds at which the dry cleaning assembly is folded and lowered by the cleaning robot are generally the same. Therefore, the third speed at which the dry cleaning assembly is lowered is the same as the third speed at which the dry cleaning assembly is folded. Similarly, the fourth speed at which the dry cleaning assembly is lowered is the same as the fourth speed at which the dry cleaning assembly is folded.

[0140] It is understandable that the value of the fourth speed needs to be preset, and can be preset to control the dry cleaning component to be lowered at the fourth speed as the second cleaning strategy is activated.

[0141] In this embodiment, since the wet cleaning component of the cleaning robot has already come into contact with the dry garbage, it is too late to put down the dry cleaning component at a normal speed, so the speed of putting down the dry cleaning component needs to be increased to avoid wetting the dry garbage, increasing the difficulty of cleaning, and avoiding secondary pollution caused by the driving wheels crushing the dry garbage.

[0142] In some embodiments, the cleaning robot control method further includes: controlling the wet cleaning component to stop working.

[0143] In some embodiments, controlling the wet cleaning component to stop working includes: controlling the wet cleaning component to retract the wet cleaning component at a second speed greater than the first speed, wherein the first speed is the speed at which the wet cleaning component is retracted when at least a portion of the dry target object is not in contact with the wet cleaning component of the cleaning robot and no wet cleaning mode is required for cleaning.

[0144] When the cleaning robot performs a cleaning task according to a preset path, according to the above embodiment, in the event of an emergency, the cleaning robot needs to be able to respond and immediately stop the wet cleaning component and retract the wet cleaning component. The cleaning robot is controlled to retract the wet cleaning component at a second speed greater than the first speed, wherein the first speed is the speed at which the wet cleaning component is retracted when at least a portion of the dry target object is not in contact with the wet cleaning component of the cleaning robot and the wet cleaning mode is not required for cleaning, that is, the speed at which the wet cleaning component is retracted when the cleaning robot is in a normal cleaning mode. For example, the speed at which the wet cleaning component is retracted at the end of the cleaning task performed by the cleaning robot can also be referred to as the original retraction speed.

[0145] It is understood that the speeds at which the wet cleaning component of the cleaning robot is folded up and lowered are generally the same. Therefore, the first speed at which the wet cleaning component is folded up is the same as the first speed at which the wet cleaning component is lowered. Similarly, the second speed at which the wet cleaning component is folded up is the same as the second speed at which the wet cleaning component is lowered.

[0146] It can be understood that the value of the second speed can be preset in the cleaning robot control system, and when this emergency occurs, the wet cleaning component is controlled to be retracted at the second speed.

[0147] In this embodiment, due to the occurrence of an emergency, the dry cleaning material has come into contact with the wet cleaning component of the cleaning robot, and it is too late to retract the wet cleaning component at a normal speed. Therefore, it is necessary to increase the speed of retracting the wet cleaning component to avoid the wet cleaning component from further contacting the dry garbage, wetting the dry garbage, increasing the difficulty of cleaning, or contaminating the wet cleaning component, resulting in secondary pollution.

[0148] In some embodiments, stopping wet cleaning includes at least one of the following: retracting the main mop, retracting the side mop, stopping the main mop from rotating, stopping the side mop from rotating, and stopping water supply.

[0149] It should be noted that, the stowing of the side drag includes folding the side drag and lifting the side drag; the stowing of the main drag includes folding the main drag and lifting the main drag.

[0150] Due to the hardware design of the cleaning robot, the side and main mops typically have the functions of storage and lifting. Storage typically involves moving the mop horizontally toward a certain position on the cleaning robot body to minimize interference with the ground, thereby stopping cleaning the floor. Lifting, on the other hand, involves moving the mop vertically toward a certain position on the cleaning robot body to minimize interference with the ground, thereby stopping cleaning the floor. Stopping the rotation of the side and main mops temporarily stops the side and main mops, merely halting their rotation and awaiting further instructions. Stopping the water supply stops the water tank from being supplied to the main and side mops, or to the ground, to prevent mixing with dry waste and increasing cleaning difficulty.

[0151] In some embodiments, after controlling the wet cleaning component to stop working, the control method further includes the following steps: the cleaning robot decelerates at a second acceleration greater than the first acceleration, wherein the first acceleration is the acceleration of decelerating from a moving state to a stopped state when at least a part of the dry target is not in contact with the wet cleaning component of the cleaning robot.

[0152] When an emergency occurs and at least part of the dry garbage has come into contact with the wet cleaning component, the cleaning robot can stop quickly to prevent the dry garbage from further contacting the wet cleaning component and expanding the contaminated area. At this time, the second acceleration value of the cleaning robot from normal speed to stop is greater than the first acceleration value when it stops under normal operation, that is, the cleaning robot takes emergency braking to avoid further contamination.

[0153] In some embodiments, when the second cleaning strategy is to make the cleaning robot go around the dry target, it further includes: making the cleaning robot go around the dry target, and controlling the cleaning robot to perform the cleaning task according to the original cleaning path.

[0154] In this embodiment, if the amount of dry waste exceeds the cleaning robot's cleaning capacity, a detour strategy can be manually or automatically implemented. The control system controls the cleaning robot to detour and return to the original cleaning path to continue cleaning along the original cleaning path. This cleaning strategy allows the cleaning robot to perform cleaning tasks without changing the original cleaning strategy. Since it does not consider unexpected situations, it can maintain the original cleaning efficiency as much as possible.

[0155] In some other embodiments, the present application also provides a cleaning robot, which includes a robot body and a driving wheel and a cleaning component arranged on the robot body, and the cleaning component includes a wet cleaning component and a dry cleaning component; the cleaning robot is configured to perform any of the methods described above.

[0156] An embodiment of the present application provides a cleaning robot, comprising a processor and a memory, wherein the memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, the method steps of any of the aforementioned embodiments are implemented.

[0157] An embodiment of the present application provides a non-transitory computer-readable storage medium storing computer program instructions, which implement the method steps of any of the aforementioned embodiments when called and executed by a processor.

[0158] like Figure 7 As shown, the cleaning robot may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 801, which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 802 or programs loaded from a storage device 808 into a random access memory (RAM) 803. RAM 803 also stores various programs and data required for the operation of the cleaning robot. Processing device 801, ROM 802, and RAM 803 are interconnected via a bus 804. An input / output (I / O) interface 805 is also connected to bus 804.

[0159] Typically, the following devices may be connected to the I / O interface 805: an input device 806 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 807 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 808 including, for example, a hard disk, etc.; and a communication device 809. The communication device 809 may allow the cleaning robot to communicate with other robots wirelessly or by wire to exchange data. Figure 7 The cleaning robot with various devices is shown, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices can be implemented or possessed instead.

[0160] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network via the communication device 809, or installed from the storage device 808, or installed from the ROM 802. When the computer program is executed by the processing device 801, the above-mentioned functions defined in the method of the embodiment of the present application are performed.

[0161] It should be noted that the computer-readable medium referred to in this application may be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, an electrical connection having one or more conductors, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. This propagated data signal may take a variety of forms, including, but not limited to, electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wire, optical cable, RF (radio frequency), or any suitable combination thereof.

[0162] The computer-readable medium may be included in the robot, or may exist independently without being incorporated into the robot.

[0163] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0164] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0165] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0166] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0167] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method for a cleaning robot, characterized in that: include: During the process of the cleaning robot performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a portion of a wet target object is in contact with a dry cleaning component of the cleaning robot; If the cleaning robot determines that at least a portion of the wet target is in contact with the dry cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; The cleaning robot is controlled to execute a first cleaning strategy, wherein the first cleaning strategy includes using a wet cleaning mode to clean at least a portion of the wet object or making the cleaning robot circle around the wet object.

2. The control method of the cleaning robot according to claim 1, characterized in that: When the first cleaning strategy is to clean at least a portion of the wet target object in a wet cleaning mode, the method further includes: Controlling the cleaning robot to return to the base station to clean the wet cleaning component and then clean the wet target object at least once; Afterwards, the cleaning task is performed according to the original preset cleaning path.

3. The control method of the cleaning robot according to claim 1, characterized in that: The step of cleaning at least a portion of the wet target object using a wet cleaning mode includes: When the first cleaning mode currently used by the cleaning robot does not include wet cleaning, the wet cleaning mode is turned on to clean at least a portion of the wet target object in the wet cleaning mode.

4. The control method of the cleaning robot according to claim 1, characterized in that: The step of cleaning at least a portion of the wet target object using a wet cleaning mode includes: When the first cleaning mode currently used by the cleaning robot includes wet cleaning, the cleaning robot directly adopts the wet cleaning mode to clean at least a portion of the wet target object, and then performs the cleaning task according to the original preset cleaning path.

5. The control method of the cleaning robot according to claim 3, characterized in that: The step of starting the wet cleaning mode includes: The wet cleaning assembly is lowered at a second speed greater than the first speed, wherein the first speed is the speed at which the wet cleaning assembly is lowered when at least a portion of the wet target is not in contact with the dry cleaning assembly of the cleaning robot and a wet cleaning mode is required for cleaning.

6. The control method of the cleaning robot according to claim 1, characterized in that: Also includes: The dry cleaning component is controlled to stop working.

7. The control method of the cleaning robot according to claim 6, characterized in that: After controlling the dry cleaning component to stop working, the method further includes: The cleaning robot is controlled to decelerate at a second acceleration greater than a first acceleration, wherein the first acceleration is an acceleration for decelerating from a moving state to a stopped state when at least a portion of a wet target is not in contact with a dry cleaning component of the cleaning robot.

8. The control method of the cleaning robot according to claim 6, characterized in that: The controlling the dry cleaning component to stop working comprises: The dry cleaning component is controlled to be retracted at a fourth speed greater than the third speed, wherein the third speed is the speed at which the dry cleaning component is retracted when at least a portion of the wet target is not in contact with the dry cleaning component of the cleaning robot and a dry cleaning mode is not required for cleaning.

9. The control method of the cleaning robot according to claim 6, characterized in that: The controlling the dry cleaning component to stop working includes at least one of the following: retracting the side brush, retracting the roller brush, retracting the booster plate, stopping the side brush from rotating, and stopping the roller brush from rotating.

10. The control method of the cleaning robot according to claim 1, characterized in that: When the first cleaning strategy is to make the cleaning robot go around the wet target object, the method further includes: The cleaning robot is made to circle the wet target object, and is controlled to perform a cleaning task according to an originally preset cleaning path.

11. The control method of the cleaning robot according to claim 1, characterized in that: The cleaning robot includes a wet cleaning component, and the wet cleaning mode is used to clean at least a portion of the wet target object, including: The wet cleaning component has a first position and a second position. The first position is that the wet cleaning component is located inside the body of the cleaning robot, and the second position is that at least a portion of the wet cleaning component is located outside the body of the cleaning robot. When the wet target is located at the edge of an obstacle, when cleaning the wet target close to the edge of the obstacle, the wet cleaning component is adjusted to the second position for cleaning to clean the wet target near the edge of the obstacle. When cleaning the wet target away from the edge of the obstacle, the wet cleaning component is adjusted to the first position for cleaning so that the cleaning area of ​​the wet cleaning component covers the walking area of ​​the drive wheel.

12. The control method of the cleaning robot according to claim 11, characterized in that: The step of cleaning at least a portion of the wet target object using a wet cleaning mode includes: The cleaning robot is controlled to move at least in a reverse manner to clean at least a portion of the wet object by mopping.

13. The control method of the cleaning robot according to claim 12, characterized in that: The controlling the cleaning robot to move at least in reverse to clean at least a portion of the wet target object by mopping includes: The mop is a roller mop or a crawler mop, and based on the forward direction of the cleaning robot, the driving wheel is located in front of the mop. During the reverse movement, the driving wheel of the cleaning robot rotates in the same direction as the mop. When the wet object is located at the edge of an obstacle, when cleaning the wet object close to the edge of the obstacle, the mop is adjusted to the second position and reversed for cleaning to clean the wet object near the edge of the obstacle. When cleaning the wet object away from the edge of the obstacle, the mop is adjusted to the first position and reversed for cleaning so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel; and / or The mop is a roller mop or a crawler mop. Based on the forward walking direction of the cleaning robot, the driving wheel is located in front of the mop. During the reverse movement, the driving wheel of the cleaning robot rotates in the opposite direction to the rotation direction of the mop. When the wet target is located at the edge of the obstacle, when cleaning the wet target close to the edge of the obstacle, the mop is adjusted to the second position and reversed for cleaning to clean the wet target near the edge of the obstacle. When cleaning the wet target away from the edge of the obstacle, the mop is adjusted to the first position and reversed for cleaning so that the cleaning area of ​​the mop covers the walking area of ​​the driving wheel.

14. The control method of the cleaning robot according to claim 1, characterized in that: The wet target object includes liquid garbage, and the wet cleaning mode is used to clean at least a portion of the wet target object, including: The cleaning robot is controlled to first clean the liquid garbage in a bow-shaped cleaning path, and then clean the liquid garbage in a manner of moving along the edge of the original liquid garbage.

15. The control method of the cleaning robot according to claim 1, characterized in that: The cleaning robot includes an infrared light emitter and a detector, the wet target object includes liquid waste, and before the cleaning robot determines whether at least a portion of the wet target object is in contact with a dry cleaning component of the cleaning robot, a method for determining the liquid waste is also included: The infrared light emitter emits infrared light at a first frequency to illuminate the surface of the liquid garbage, and then the detector receives the light waves reflected from the surface of the liquid garbage to obtain the edge contour of the liquid garbage.

16. A control method for a cleaning robot, characterized in that: include: During the process of the cleaning robot performing a cleaning task in a first cleaning mode along a preset cleaning path, the cleaning robot determines whether at least a portion of a dry target object is in contact with a wet cleaning component of the cleaning robot; If the cleaning robot determines that at least a portion of the dry target is in contact with the wet cleaning component of the cleaning robot, the cleaning robot stops performing the cleaning task along the original preset cleaning path; The cleaning robot is controlled to execute a second cleaning strategy, wherein the second cleaning strategy includes using a dry cleaning mode to clean at least a portion of the dry object or making the cleaning robot circle around the dry object.

17. The control method of the cleaning robot according to claim 16, characterized in that: When the second cleaning strategy is to clean at least a portion of the dry target object in a dry cleaning mode, the method further includes: Controlling the cleaning robot to return to the base station to dump garbage and then clean the dry target object at least once; Afterwards, the cleaning task is performed according to the original preset cleaning path.

18. The control method of the cleaning robot according to claim 16, characterized in that: The step of cleaning at least a portion of the dry target object using a dry cleaning mode includes: When the first cleaning mode currently set by the cleaning robot does not include dry cleaning, the dry cleaning mode is turned on to clean at least a portion of the dry target object in the dry cleaning mode.

19. The control method of the cleaning robot according to claim 16, characterized in that: The step of cleaning at least a portion of the dry target object using a dry cleaning mode includes: When the first cleaning mode currently used by the cleaning robot includes dry cleaning, the cleaning robot directly adopts the dry cleaning mode to clean at least a portion of the dry target object, and then performs the cleaning task according to the original preset cleaning path.

20. The control method of the cleaning robot according to claim 18, characterized in that: The step of starting the dry cleaning mode includes: The dry cleaning assembly is lowered at a fourth speed greater than the third speed, wherein the third speed is the speed at which the dry cleaning assembly is lowered when at least a portion of the dry target is not in contact with the wet cleaning assembly of the cleaning robot and a dry cleaning mode is required for cleaning.

21. The control method of the cleaning robot according to claim 16, characterized in that: Also includes: The wet cleaning component is controlled to stop working.

22. The control method of the cleaning robot according to claim 21, characterized in that: After controlling the wet cleaning component to stop working, the method further includes: The cleaning robot is controlled to decelerate at a second acceleration greater than a first acceleration, wherein the first acceleration is an acceleration for decelerating from a moving state to a stopped state when at least a portion of a dry target is not in contact with a wet cleaning component of the cleaning robot.

23. The control method of the cleaning robot according to claim 21, characterized in that: The controlling the wet cleaning component to stop working comprises: The wet cleaning component is controlled to be retracted at a second speed greater than a first speed, wherein the first speed is a speed at which the wet cleaning component is retracted when at least a portion of a dry target is not in contact with the wet cleaning component of the cleaning robot and a wet cleaning mode is not required for cleaning.

24. The control method of the cleaning robot according to claim 21, characterized in that: The controlling the wet cleaning assembly to stop working includes at least one of the following: retracting the main mop, retracting the side mop, stopping water supply, stopping the main mop from rotating, and stopping the side mop from rotating.

25. The control method of the cleaning robot according to claim 16, characterized in that: When the second cleaning strategy is to make the cleaning robot go around the dry target object, the method further includes: The cleaning robot is made to circle the dry target object, and is controlled to perform a cleaning task according to an originally preset cleaning path.

26. A cleaning robot, characterized in that: The cleaning robot includes a robot body, and driving wheels and a cleaning component provided on the robot body, wherein the cleaning component includes a wet cleaning component and a dry cleaning component; the cleaning robot is configured to perform the method according to any one of claims 1 to 25.

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